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Fast and Robust 3D Feature Extraction from Sparse Point Clouds
Get PDFAbstract-Matching 3D point clouds, a critical operation in map building and localization, is difficult with Velodyne-type sensors due to the sparse and non-uniform point clouds that they produce. Standard methods from dense 3D point clouds are generally not effective. In this paper, we describe a featurebased approach using Principal Components Analysis (PCA) of neighborhoods of points, which results in mathematically principled line and plane features. The key contribution in this work is to show how this type of feature extraction can be done efficiently and robustly even on non-uniformly sampled point clouds. The resulting detector runs in real-time and can be easily tuned to have a low false positive rate, simplifying data association. We evaluate the performance of our algorithm on an autonomous car at the MCity Test Facility using a Velodyne HDL-32E, and we compare our results against the state-of-theart NARF keypoint detector
American Institute of Aeronautics and Astronautics 1 RADIATION-DRIVEN FLAME SPREAD OVER THERMALLY-THICK FUELS IN QUIESCENT MICROGRAVITY ENVIRONMENTS
Get PDFAbstract Microgravity experiments on flame spread over thermally thick fuels were conducted using foam fuels to obtain low density and thermal conductivity, and thus large spread rate (S f ) compared to dense fuels such as PMMA. This scheme enabled meaningful results to be obtained even in 2.2 second drop tower experiments. It was found that, in contrast conventional understanding; steady spread can occur over thick fuels in quiescent microgravity environments, especially when a radiatively active diluent gas such as CO 2 is employed. This is proposed to be due to radiative transfer from the flame to the fuel surface. Additionally, the transition from thermally thick to thermally thin behavior with decreasing bed thickness is demonstrated
Design Research in e-Government
Get PDFAbstract This paper investigates if design research in e-government should be conducted in some special way compared with standard models for design research. It reviews literature in e-government and design research in order to generate an answer to this research question. The result is affirmative that the policy character of e-government should have consequences for the way that e-government design research is conducted. A tentative e-government design research model, consisting of different activities is formulated. This model consists of the activities: theorizing, policy analysis, workpractice analysis, codesign and co-evaluation of IT artefact and workpractice. One important result from this paper is the formulation of the concept of the policy-ingrained artefact as an important empirical result from egovernment design research
ABBREVIATIONS: topo II, DNA topoisomerase II; VP-i 6 Topoisomerase II Activity Involved in Cleaving DNA into Topological Domains Is Altered in a Multiple Drug-Resistant Chinese Hamster Ovary Cell Line
No full textAlishewanella aestuarii sp. nov., isolated from tidal flat sediment, and emended description of the genus Alishewanella
Get PDFThe genus Alishewanella, proposed by Fonnesbech Strain B11 T was isolated from tidal flat sediment in Yeosu (34 u 479 260 N 127 u 349 010 E), Republic of Korea. The strain was isolated on R2A agar (Difco) followed by repeated restreaking to obtain a pure culture. The Gram reaction was determined according to the non-staining method described by T and closely related strains. Chromosomal DNA was extracted and purified using a DNA extraction kit (IntronBiotechnology). The G+C content was determined using HPLC as described by T is affiliated phylogenetically with A. fetalis; this affiliation is supported by high bootstrap values (100, 98 and 94 % by the neighbour-joining, maximum-parsimony and maximum-likelihood methods, respectively). Similarities between the 16S rRNA gene sequence of strain B11 T and those of A. fetalis CCUG 30811 T Rheinheimera aquimaris SW-353 T and Rheinheimera perlucida BA131 T were 98.3, 96.5 and 96.4 %, respectively. A DNA-DNA hybridization experiment was performed as described previously For quantitative analysis of cellular fatty acids, strain B11 T and A. fetalis CCUG 30811 T were grown under the same conditions on blood agar plates at 30 u C for 2 days. Cells were harvested and cellular fatty acids were saponified, methylated and extracted as described by the Sherlock Microbial Identification System T were C 18 : 1 v7c, C 17 : 1 v8c, summed feature 3 (C 16 : 1 v7c and/or iso-C 15 : 0 2-OH), C 16 : 0 and C 17 : 0 . Complete fatty acid compositions of the novel strain and A. fetalis CCUG 30811 T are shown in T and the type strain of A. fetalis are similar. In addition to 16S rRNA gene similarity, the major fatty acid components of strain B11 T and its temperature range for growth confirm affiliation of this strain with the genus Alishewanella
Relationship Tools
No full textAbstract As people intimate relation with all kinds of technologies evolves, new expressive and interactive technologies are becoming relevant for the field of design. Loom is a garment that fits tight around the upper body, supporting the posture and preventing large movements. Small movements therefore become the focus of the interaction. Through the use of NiTi wires the collar moves upward; by hand the collar can be pushed down. The continuous moving up and pushing down creates a subtle touch on the neck, supporting relaxation and meditation activities. Loom is part of a set of wearables [1] that explored the boundaries between the human body, its movement and the technological possibilities. The goal was to blend Phenomenology [2], interaction design, and fashion design in order to create new design practices
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No full text, a length of employment at the bank of more than five years (odds ratio, 3.32, 95% CI,), a daily work period of six hours (odds ratio, 2.72, 95% CI, and, mainly, low social support (odds ratio, 2.57,
PII: S0166-2236(00)02005-1
No full textSleep can facilitate memory formation, but its role in cortical plasticity is poorly understood. A recent study found that sleep, following monocular deprivation (MD), facilitated cortical changes in ocular dominance. The magnitude of plasticity was similar to that observed after continued MD, and larger than that seen after sleep deprivation in darkness, suggesting that sleep per se enables mechanisms of cortical plasticity. Experience-dependent plasticity during sleep could be part of a more global process of memory consolidation
Sexual selection in the cricket Gryllus bimaculatus: no good genes?
No full textAbstract Recent studies have suggested that females of the field cricket Gryllus bimaculatus exercise post-copulatory choice over the paternity of their offspring. There is evidence that these choices are made in relation to the genetic compatibility of mates rather than their absolute quality, but the magnitude of heritable differences in males has not been thoroughly examined. Using a half-sib breeding design we measured additive genetic variance and dam effects in a suite of reproductive and non-reproductive traits. Both components explained relatively little of the phenotypic variance across traits. The dam component in our design contains variance caused by both maternal effects and dominance. If maternal effects are negligible as suggested by previous studies, our data suggest that dominance variance is an important source of variation in these traits. The lack of additive genetic variation, but possible existence of large amounts of non-additive genetic variation is consistent with the idea that female mate choice and multiple mating may be driven by differences in genetic compatibility between potential mates rather than by differences in genetic quality